support gtsam 4.2 (#282)

koide3 · web-flow · commit b2595698f063 · 2026-01-17T23:26:12.000+09:00
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -24,7 +24,7 @@ endif()
 
 find_package(Boost REQUIRED serialization)
 find_package(Eigen3 REQUIRED)
-find_package(GTSAM 4.3 REQUIRED)
+find_package(GTSAM 4.2 REQUIRED)
 find_package(gtsam_points 1.2.0 REQUIRED)
 find_package(OpenMP REQUIRED)
 find_package(spdlog REQUIRED)
diff --git a/include/glim/mapping/global_mapping_pose_graph.hpp b/include/glim/mapping/global_mapping_pose_graph.hpp
@@ -5,6 +5,7 @@
 #include <memory>
 #include <random>
 #include <thread>
+#include <gtsam_points/util/gtsam_migration.hpp>
 #include <glim/util/concurrent_vector.hpp>
 #include <glim/mapping/global_mapping_base.hpp>
 
@@ -119,7 +120,7 @@ class GlobalMappingPoseGraph : public GlobalMappingBase {
   std::atomic_bool kill_switch;
   std::thread loop_detection_thread;
   ConcurrentVector<LoopCandidate> loop_candidates;
-  ConcurrentVector<std::shared_ptr<gtsam::NonlinearFactor>> detected_loops;
+  ConcurrentVector<gtsam_points::shared_ptr<gtsam::NonlinearFactor>> detected_loops;
 
   std::vector<SubMap::Ptr> submaps;
   std::vector<SubMapTarget::Ptr> submap_targets;
diff --git a/include/glim/odometry/odometry_estimation_cpu.hpp b/include/glim/odometry/odometry_estimation_cpu.hpp
@@ -49,7 +49,7 @@ class OdometryEstimationCPU : public OdometryEstimationIMU {
   virtual ~OdometryEstimationCPU() override;
 
 private:
-  virtual gtsam::NonlinearFactorGraph create_factors(const int current, const std::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) override;
+  virtual gtsam::NonlinearFactorGraph create_factors(const int current, const gtsam_points::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) override;
 
   virtual void fallback_smoother() override;
 
diff --git a/include/glim/odometry/odometry_estimation_gpu.hpp b/include/glim/odometry/odometry_estimation_gpu.hpp
@@ -56,7 +56,7 @@ class OdometryEstimationGPU : public OdometryEstimationIMU {
 
 private:
   virtual void create_frame(EstimationFrame::Ptr& frame) override;
-  virtual gtsam::NonlinearFactorGraph create_factors(const int current, const std::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) override;
+  virtual gtsam::NonlinearFactorGraph create_factors(const int current, const gtsam_points::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) override;
   virtual void update_frames(const int current, const gtsam::NonlinearFactorGraph& new_factors) override;
 
   void update_keyframes_overlap(int current);
diff --git a/include/glim/odometry/odometry_estimation_imu.hpp b/include/glim/odometry/odometry_estimation_imu.hpp
@@ -5,6 +5,7 @@
 #include <random>
 
 #include <glim/odometry/odometry_estimation_base.hpp>
+#include <gtsam_points/util/gtsam_migration.hpp>
 #include <gtsam_points/util/indexed_sliding_window.hpp>
 
 namespace gtsam {
@@ -79,7 +80,7 @@ class OdometryEstimationIMU : public OdometryEstimationBase {
 
 protected:
   virtual void create_frame(EstimationFrame::Ptr& frame) {}
-  virtual gtsam::NonlinearFactorGraph create_factors(const int current, const std::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) = 0;
+  virtual gtsam::NonlinearFactorGraph create_factors(const int current, const gtsam_points::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) = 0;
 
   virtual void fallback_smoother() {}
   virtual void update_frames(const int current, const gtsam::NonlinearFactorGraph& new_factors);
diff --git a/include/glim/viewer/interactive_viewer.hpp b/include/glim/viewer/interactive_viewer.hpp
@@ -11,6 +11,7 @@
 #include <glim/mapping/sub_map.hpp>
 #include <glim/util/extension_module.hpp>
 #include <glim/util/concurrent_vector.hpp>
+#include <gtsam_points/util/gtsam_migration.hpp>
 
 namespace spdlog {
 class logger;
@@ -128,7 +129,7 @@ class InteractiveViewer : public ExtensionModule {
   std::vector<std::tuple<FactorType, std::uint64_t, std::uint64_t>> global_factors;
 
   // Factors to be inserted into the global mapping graph
-  ConcurrentVector<std::shared_ptr<gtsam::NonlinearFactor>> new_factors;
+  ConcurrentVector<gtsam_points::shared_ptr<gtsam::NonlinearFactor>> new_factors;
 
   // Logging
   std::shared_ptr<spdlog::logger> logger;
diff --git a/include/glim/viewer/standard_viewer.hpp b/include/glim/viewer/standard_viewer.hpp
@@ -12,6 +12,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+#include <gtsam_points/util/gtsam_migration.hpp>
 #include <glim/util/extension_module.hpp>
 
 namespace spdlog {
@@ -82,7 +83,7 @@ class StandardViewer : public ExtensionModule {
 
   using FactorLine = std::tuple<Eigen::Vector3f, Eigen::Vector3f, Eigen::Vector4f, Eigen::Vector4f>;
   using FactorLineGetter = std::function<std::optional<FactorLine>(const gtsam::NonlinearFactor*)>;
-  std::vector<std::pair<std::weak_ptr<gtsam::NonlinearFactor>, FactorLineGetter>> odometry_factor_lines;
+  std::vector<std::pair<gtsam_points::weak_ptr<gtsam::NonlinearFactor>, FactorLineGetter>> odometry_factor_lines;
   std::unordered_map<std::uint64_t, Eigen::Isometry3f> odometry_poses;
 
   bool show_mapping_tools;
diff --git a/src/glim/mapping/global_mapping.cpp b/src/glim/mapping/global_mapping.cpp
@@ -377,7 +377,7 @@ void GlobalMapping::optimize() {
 }
 
 std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMapping::create_between_factors(int current) const {
-  auto factors = gtsam::make_shared<gtsam::NonlinearFactorGraph>();
+  auto factors = std::make_shared<gtsam::NonlinearFactorGraph>();
   if (current == 0 || !params.enable_between_factors) {
     return factors;
   }
@@ -428,7 +428,7 @@ std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMapping::create_between_facto
 }
 
 std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMapping::create_matching_cost_factors(int current) const {
-  auto factors = gtsam::make_shared<gtsam::NonlinearFactorGraph>();
+  auto factors = std::make_shared<gtsam::NonlinearFactorGraph>();
   if (current == 0) {
     return factors;
   }
diff --git a/src/glim/mapping/global_mapping_pose_graph.cpp b/src/glim/mapping/global_mapping_pose_graph.cpp
@@ -290,7 +290,7 @@ void GlobalMappingPoseGraph::insert_submap(int current, const SubMap::Ptr& subma
 }
 
 std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMappingPoseGraph::create_odometry_factors(int current) const {
-  auto factors = gtsam::make_shared<gtsam::NonlinearFactorGraph>();
+  auto factors = std::make_shared<gtsam::NonlinearFactorGraph>();
   if (current == 0) {
     return factors;
   }
@@ -336,7 +336,7 @@ void GlobalMappingPoseGraph::find_loop_candidates(int current) {
 }
 
 std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMappingPoseGraph::collect_detected_loops() {
-  auto factors = gtsam::make_shared<gtsam::NonlinearFactorGraph>();
+  auto factors = std::make_shared<gtsam::NonlinearFactorGraph>();
 
   factors->add(detected_loops.get_all_and_clear());
 
diff --git a/src/glim/odometry/odometry_estimation_cpu.cpp b/src/glim/odometry/odometry_estimation_cpu.cpp
@@ -74,7 +74,7 @@ OdometryEstimationCPU::OdometryEstimationCPU(const OdometryEstimationCPUParams&
 
 OdometryEstimationCPU::~OdometryEstimationCPU() {}
 
-gtsam::NonlinearFactorGraph OdometryEstimationCPU::create_factors(const int current, const std::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) {
+gtsam::NonlinearFactorGraph OdometryEstimationCPU::create_factors(const int current, const gtsam_points::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) {
   const auto params = static_cast<const OdometryEstimationCPUParams*>(this->params.get());
   const int last = current - 1;
 
diff --git a/src/glim/odometry/odometry_estimation_gpu.cpp b/src/glim/odometry/odometry_estimation_gpu.cpp
@@ -125,7 +125,7 @@ void OdometryEstimationGPU::update_frames(const int current, const gtsam::Nonlin
   Callbacks::on_update_keyframes(keyframes);
 }
 
-gtsam::NonlinearFactorGraph OdometryEstimationGPU::create_factors(const int current, const std::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) {
+gtsam::NonlinearFactorGraph OdometryEstimationGPU::create_factors(const int current, const gtsam_points::shared_ptr<gtsam::ImuFactor>& imu_factor, gtsam::Values& new_values) {
   if (current == 0 || !frames[current]->frame->size()) {
     return gtsam::NonlinearFactorGraph();
   }
diff --git a/src/glim/viewer/standard_viewer.cpp b/src/glim/viewer/standard_viewer.cpp
@@ -5,6 +5,7 @@
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam_points/config.hpp>
+#include <gtsam_points/util/gtsam_migration.hpp>
 #include <gtsam_points/types/point_cloud_cpu.hpp>
 #include <gtsam_points/factors/integrated_matching_cost_factor.hpp>
 #include <gtsam_points/optimizers/isam2_result_ext.hpp>
@@ -283,7 +284,7 @@ void StandardViewer::set_callbacks() {
                                                         gtsam::Values& new_values,
                                                         std::map<std::uint64_t, double>& new_stamps) {
     //
-    std::vector<std::pair<std::weak_ptr<gtsam::NonlinearFactor>, FactorLineGetter>> new_factor_lines;
+    std::vector<std::pair<gtsam_points::weak_ptr<gtsam::NonlinearFactor>, FactorLineGetter>> new_factor_lines;
     new_factor_lines.reserve(new_factors.size());
 
     for (const auto& factor : new_factors) {

Original file line number	Diff line number	Diff line change
`@@ -377,7 +377,7 @@ void GlobalMapping::optimize() {`
`377`	`377`	`}`
`378`	`378`
`379`	`379`	`std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMapping::create_between_factors(int current) const {`
`380`		`- auto factors = gtsam::make_shared<gtsam::NonlinearFactorGraph>();`
	`380`	`+ auto factors = std::make_shared<gtsam::NonlinearFactorGraph>();`
`381`	`381`	`if (current == 0 \|\| !params.enable_between_factors) {`
`382`	`382`	`return factors;`
`383`	`383`	`}`
`@@ -428,7 +428,7 @@ std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMapping::create_between_facto`
`428`	`428`	`}`
`429`	`429`
`430`	`430`	`std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMapping::create_matching_cost_factors(int current) const {`
`431`		`- auto factors = gtsam::make_shared<gtsam::NonlinearFactorGraph>();`
	`431`	`+ auto factors = std::make_shared<gtsam::NonlinearFactorGraph>();`
`432`	`432`	`if (current == 0) {`
`433`	`433`	`return factors;`
`434`	`434`	`}`
Original file line number	Diff line number	Diff line change
`@@ -290,7 +290,7 @@ void GlobalMappingPoseGraph::insert_submap(int current, const SubMap::Ptr& subma`
`290`	`290`	`}`
`291`	`291`
`292`	`292`	`std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMappingPoseGraph::create_odometry_factors(int current) const {`
`293`		`- auto factors = gtsam::make_shared<gtsam::NonlinearFactorGraph>();`
	`293`	`+ auto factors = std::make_shared<gtsam::NonlinearFactorGraph>();`
`294`	`294`	`if (current == 0) {`
`295`	`295`	`return factors;`
`296`	`296`	`}`
`@@ -336,7 +336,7 @@ void GlobalMappingPoseGraph::find_loop_candidates(int current) {`
`336`	`336`	`}`
`337`	`337`
`338`	`338`	`std::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMappingPoseGraph::collect_detected_loops() {`
`339`		`- auto factors = gtsam::make_shared<gtsam::NonlinearFactorGraph>();`
	`339`	`+ auto factors = std::make_shared<gtsam::NonlinearFactorGraph>();`
`340`	`340`
`341`	`341`	`factors->add(detected_loops.get_all_and_clear());`
`342`	`342`